摘要
随着机器人技术的快速发展和机器人系统的多样化,机器人的仿真变得越来越复杂。介绍了一个多功能的、可扩展的通用机器人仿真软件V-REP。首先描述V-REP的整体框架,介绍软件中的实体和计算模块;其次介绍V-REP中仿真的控制方法;最后通过V-REP与MATLAB使用多种关节控制方法实现HOAP3机器人的仿真。
This paper introduced a simulation software V-REP of multifunctional and scalable versatile robot.Firstly,the entire structure of V-REP was described,of which the entity and calculation module was introduced.Secondly,its simulation and control method was introduced.Finally,the simulation of HOAP3 robot was implemented based on variety of joint control methods with V-REP and MATLAB.
作者
许浩燕
ABBA Gabriel
满庆丰
夏继强
XU Hao-yan;ABBA Gabriel;MAN Qing-feng;XIA Ji-qiang(Industrial Control Network Technology Lab,School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China;LCFC Lab,Ecole Nationale Supérieured’Arts et Métiers,Metz 57070,France)
出处
《机械工程与自动化》
2018年第2期47-48,51,共3页
Mechanical Engineering & Automation
